ROS Scenario Simulation

This project is designed to test the openplanner algorithms, based on "common road" [1] and "openScenario"[2] files. Currently commonroad scenario files are not supported out of the box. The commonroad data structure is used to describe the scenarios. Therefore a commonroad interface should be easy to implement.

Scenarios

Currently the folowing scenarios are provided: Simple swerve around object own our own lane without opposing traffic.

Left turn inside an intersection without stoplines or tarfficlights.

Simulation/ROS Node Architecture

Installation

This repository can be built using catkin build in the scenario_sim_ws directory.

Prerequisites

sudo apt-get install python-catkin-tools
pip install -U rospkg
pip3 install commonroad-io
pip3 install rospkg numpy matplotlib

get depedencies -> execute in /ros_scenario_simulation

sudo rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

add ad-xolib as git submodule

git submodule add https://github.com/javedulu/ad-xolib.git src/open_scenario_helper/include/ad-xolib

Dependencies

• ad-xolib Install and build the ad-xolib from source. Additionally, install and build "emscripten" from source. This is needed to build "ad-xolib" or edit the CMakeLists of "ad-xolib" and set emscripten support OFF. At Line 13.

Build library ad-xolib

cd src/open_scenario_helper/include/ad-xolib 
git submodule update --init --recursive 
mkdir build
cd build
cmake .. -DBUILD_EMBED_TARGETS=OFF
make

Build ROS Workspace

If it fails, just try again.

catkin build

Run

roslaunch sim_run run.launch

Info

Citation

Citation Elements Author: Armin Straller, Mathias Pechinger, Carsten Markgraf Title: ROS Scenario Simulation Publisher: University of Applied Sciences Augsburg Place of publication: Germany Date of publication: 2022 URL: https://github.com/arminstr/ros_scenario_simulation

Bibtex

@online{2022_ros_scenario_simulation, author = {Armin Straller and Mathias Pechinger and Hatem Darweesh and Carsten Markgraf}, title = {ROS Scenario Simulation}, publisher = {University of Applied Sciences Augsburg}, address = {Germany}, year = {2022}, url = {https://github.com/arminstr/ros_scenario_simulation} }

References

[1]: Commonroad Scenario Format Definition https://commonroad.in.tum.de

[2]: OpenSCENARIO Format Definition https://www.asam.net/standards/detail/openscenario/